INVERTER PRE-OPERATION INSTRUCTIONS

1
Plug-in option INSTALLATION AND WIRING
2
FR-A8AP ENCODER SPECIFICATIONS AND
3
INSTRUCTION MANUAL PARAMETER SETTINGS
ORIENTATION CONTROL
4
Orientation control ENCODER FEEDBACK CONTROL
5
Encoder feedback control VECTOR CONTROL
6
Vector control
Safety instructions
Thank you for choosing this Mitsubishi Electric inverter plug-in option.
This Instruction Manual provides handling information and precautions for use of this product. Incorrect handling might cause an unexpected fault. Before
using this product, always read this Instruction Manual carefully to use this product correctly.
Please forward this Instruction Manual to the end user.
Do not attempt to install, operate, maintain or inspect the product until you have read through this Instruction Manual and supplementary
documents carefully and can use the equipment correctly. Do not use this product until you have a full knowledge of this product mechanism,
safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Incorrect handling may cause hazardous conditions, resulting in medium or slight injury, or may cause only material
CAUTION damage.
The CAUTION level may even lead to a serious consequence according to conditions. Both instruction levels must be followed
because these are important to personal safety.
 Electric Shock Prevention

WARNING
 While the inverter power is ON, do not open the front cover or the wiring cover. Do not run the inverter with the front cover or the wiring cover
removed. Otherwise you may access the exposed high voltage terminals or the charging part of the circuitry and get an electric shock.
 Do not remove the inverter front cover even if the power supply is disconnected. The only exception for this would be when performing wiring
and periodic inspection. You may accidentally touch the charged inverter circuits and get an electric shock.
 Before wiring or inspection, LED indication of the inverter unit operation panel must be switched OFF. Any person who is involved in wiring or
inspection shall wait for at least 10 minutes after the power supply has been switched OFF and check that there is no residual voltage using
a tester or the like. For some time after the power-OFF, a high voltage remains in the smoothing capacitor, and it is dangerous.
 Any person who is involved in wiring or inspection of this product shall be fully competent to do the work.
 The plug-in option must be installed before wiring. Otherwise you may get an electric shock or be injured.
 Do not touch the plug-in option or handle the cables with wet hands. Otherwise you may get an electric shock.
 Do not subject the cables to scratches, excessive stress, heavy loads or pinching. Otherwise you may get an electric shock.

2
 Injury Prevention

CAUTION
 The voltage applied to each terminal must be as specified in the Instruction Manual. Otherwise an explosion or damage may occur.
 The cables must be connected to the correct terminals. Otherwise an explosion or damage may occur.
 The polarity (+ and -) must be correct. Otherwise an explosion or damage may occur.
 While power is ON or for some time after power OFF, do not touch the inverter as it will be extremely hot. Touching these devices may cause
burns.
 Additional Instructions
The following instructions must be also followed. If the product is handled incorrectly, it may cause unexpected fault, an injury, or an electric shock.

CAUTION
Transportation and installation
 Do not install or operate the plug-in option if it is damaged or has parts missing.
 Do not stand or rest heavy objects on the product.
 Ensure the mounting orientation of this product is correct.
 Foreign conductive objects must be prevented from entering the inverter. That includes screws and metal fragments or other flammable
substance such as oil.
 If halogens (including fluorine, chlorine, bromine, and iodine) contained in fumigants for wood packages enter this product, the product may
be damaged. Prevent the entry of fumigant residuals or use an alternative method such as heat disinfection. Note that sterilization or
disinfection of wood packages should be performed before packing the product.
Trial run
 Before starting operation, confirm or adjust the parameter settings. Failure to do so may cause some machines to make unexpected
motions.

WARNING
Usage
 Do not modify the product.
 Do not remove any part which is not instructed to be removed in the Instruction Manuals. Doing so may lead to a failure or damage of the
product.

3
 CAUTION
Usage
 As all parameters return to their initial values after the Parameter clear or All parameter clear is performed, the parameters must be set again
as required before the operation is started.
 Static electricity in your body must be discharged before you touch the product.
Maintenance, inspection and parts replacement
 Do not carry out a megger (insulation resistance) test.
Disposal
 The inverter must be treated as industrial waste.

General instruction
 Many of the diagrams and drawings in this Instruction Manual show the inverter without a cover or partially open for explanation. Never
operate the inverter in this manner. The cover must be reinstalled and the instructions in the Instruction Manual must be followed when
operating the inverter.

4
 — CONTENTS —
Safety instructions 2

1 PRE-OPERATION INSTRUCTIONS 7
1.1 Unpacking and product confirmation............................................................................................................................7
1.2 Component names ..........................................................................................................................................................8

2 INSTALLATION AND WIRING 9

2.1 Pre-installation instructions ...........................................................................................................................................9
2.2 Installation procedure ...................................................................................................................................................10
2.3 Encoder specification / terminating resistor switch setting......................................................................................14
2.4 Wiring..............................................................................................................................................................................17
2.5 Encoder cables dedicated to Mitsubishi Electric motors ..........................................................................................22
2.6 Terminals........................................................................................................................................................................25

3 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS 26

3.1 Encoder ..........................................................................................................................................................................26

4 ORIENTATION CONTROL 31
4.1 Wiring example ..............................................................................................................................................................31
4.2 Terminals........................................................................................................................................................................33
4.3 Specifications ................................................................................................................................................................34

5 ENCODER FEEDBACK CONTROL 35

5.1 Wiring examples ............................................................................................................................................................35
5.2 Specifications ................................................................................................................................................................36

5
6 VECTOR CONTROL 37
6.1 Wiring examples ............................................................................................................................................................38
6.2 Specifications ................................................................................................................................................................42

APPENDIX 43
Appendix 1 Instructions for compliance with the EU Directives ....................................................................................43
Appendix 2 Instructions for EAC .......................................................................................................................................44
Appendix 3 Restricted Use of Hazardous Substances in Electronic and Electrical Products .....................................45
Appendix 4 Referenced Standard (Requirement of Chinese standardized law) ...........................................................46
Appendix 5 Regarding Directive on Waste Electrical and Electronic Equipment .........................................................47
Appendix 6 Compliance with the UK certification scheme .............................................................................................48

REVISIONS 51

6
 1 PRE-OPERATION INSTRUCTIONS

1.1 Unpacking and product confirmation

Take the plug-in option out of the package, check the product name, and confirm that the product is as you ordered and intact.
This product is a plug-in option dedicated for the FR-A800 series.
 Product confirmation
Check the enclosed items. 1
Plug-in option Mounting screw (M3 × 8 mm) Spacer
.......................................1 ........2 (Refer to page 9.) ........2 (Refer to page 9)

1 O
2 N

SW2

SW3
O
N
1
2
3
4
SW1

NOTE
• Connection diagrams in this Instruction Manual appear with the control logic of the input terminals as sink logic, unless
otherwise specified. (For the control logic, refer to the Instruction Manual(Detailed) of the inverter.)

PRE-OPERATION INSTRUCTIONS 7
1.2 Component names

Front view (a) Rear view (g)

Terminal layout (a) (a)

(h)
(d)

(f) 1
2
O
N

SW2
PB1
PZ1
PA1

PIN
PG
PG

PIN and PO (c) SW3

are not used.

O
N
(e)

1
2
3
4
SW1
PB2
PZ2
PA2

PO
SD
SD

(a) (a)

(b)
(a)
Refer to
Symbol Name Description
page
a Mounting hole Fixes the option to the inverter with screws, or installs spacers. 9
b Terminal block Connects to the encoder. 17
c Encoder type selection switch (SW3) Switches the encoder type (differential line driver/ complementary). 14
d CON2 connector Not used. ―
e Terminating resistor selection switch (SW1) Switches ON or OFF the internal terminating resistor. 14
f Switch for manufacturer setting (SW2) Do not change the initially-set status. (Switches 1 and 2 are OFF 1
2
O
N .) ―
g Board mounted option connector Connects to the option connector of the inverter. 9
h LED for manufacturer check Not used. ―

8 PRE-OPERATION INSTRUCTIONS
 2 INSTALLATION AND WIRING

2.1 Pre-installation instructions

Check that the inverter's input power and the control circuit power are both OFF.

CAUTION
• Do not mount or remove the plug-in option while the input power is ON. Doing so may damage the inverter or plug-in option.
• To avoid damage due to static electricity, static electricity in your body must be discharged before you touch the product.

INSTALLATION AND WIRING 9

2.2 Installation procedure
1. Remove the inverter front cover. (Refer to Chapter 2 of the Instruction Manual (Detailed) of the inverter instructions for
removing the front cover.)
2. Insert two spacers into the mounting holes that will not be used for mounting screws (see the diagrams on page 11 to
identify the holes).
3. Fit the board mounted option connector on this product to the guide of the option connector on the inverter, and insert the
option as far as it goes. (Insert it to the inverter option connector 1 or 2.)
4. Fasten this product to the inverter using the two mounting screws through the holes on either side (tightening torque 0.33
N·m to 0.40 N·m). If the screw holes do not line up, the connector may not be inserted deep enough. Check the
connector.
Option connector
on the inverter
Spacer

Spacer

Example of installation to connector 1

10 INSTALLATION AND WIRING

 Insertion positions of screws and spacers (standard model)

Spacer

This connector is available when

2
Connector 3 other option is not connected to the connector 2.

Spacer Mounting screw

Spacer Spacer

Connector 2 Connector 1
Spacer Spacer

Mounting screw Mounting screw

INSTALLATION AND WIRING 11

 Insertion positions of screws and spacers (Ethernet model)

Spacer
When the Ethernet board is connected, the FR-A8AP
can be connected.
When the Ethernet board is disconnected, the
Connector 3 FR-A8AP can be connected when other option is not
connected to the connector 2.

Spacer Mounting screw

Spacer

Connector 2 Connector 1
Spacer

Mounting screw

12 INSTALLATION AND WIRING

 NOTE
• Be careful not to drop mounting screws during the installation or removal of the plug-in option.
• Only attached to the option connector with high priority can function at once if more than one option of the same name are
installed together on an inverter. Priority is given to option connectors in descending order (1 to 3), and options having a
lower priority do not function. (For the positions of the option connectors 1 to 3, refer to page 11.)
• When the inverter cannot recognize the option due to improper installation or any other reason, the protective function (E.1
to E.3) is displayed. The indication shown (when a fault occurs) depends on the connector used (option connector 1 to 3).
Mounted position Fault indication

Option connector 1

Option connector 2
2
Option connector 3

• When removing the plug-in option, remove the two screws on either side, and then pull it straight out. Pressure applied to
the option connector and to the option board may break the option.

INSTALLATION AND WIRING 13

2.3 Encoder specification / terminating resistor switch setting
 Encoder specification selection switch (SW3)
Select either differential line driver or complementary.
It is initially set to the differential line driver. Switch its position according to output circuit.

Differential line driver

(initial status)
1 O
2 N

SW2

SW3

O
N
1
2
3
4
Complementary

SW1

14 INSTALLATION AND WIRING

 Terminating resistor selection switch (SW1)
Select "ON"/"OFF" of the internal terminating resistor.
Set the switch to "ON" (initial status) when an encoder output type is differential line driver and set to "OFF" when
complementary.
ON : with internal terminating resistor (initial setting status)
OFF : without internal terminating resistor
Internal terminating
resistor-ON
(initial status)

2
1 O
2 N

SW2

SW3

O
N
1
2
3
4
Internal terminating

SW1
resistor-OFF

NOTE
• Set all switches to the same setting ("ON"/ "OFF").
• If the encoder output type is differential line driver, set the terminating resistor switch to the "OFF" position when sharing the
same encoder with other unit (CNC (computerized numerical controller), etc) or a terminating resistor is connected to other
unit.

INSTALLATION AND WIRING 15

 Motor used and switch setting
Encoder specification Terminating resistor Power
Motor
selection switch (SW3) selection switch (SW1) specifications*2
Mitsubishi Electric high-
performance energy-saving motor SF-PR-SC Complementary OFF 12V to 24V
with encoder
Mitsubishi Electric Vector control SF-V5RU Complementary OFF 12V to 24V
dedicated motor SF-THY Complementary OFF 12 to 24 V
Mitsubishi standard motor with SF-JR Differential ON 5V
encoder SF-HR Differential ON 5V
Mitsubishi high-efficiency motor
Other *1 *1 *2*3
with encoder
SF-JRCA Differential ON 5V
Mitsubishi Electric constant-torque SF-HRCA Differential ON 5V
motor with encoder
Other *1 *1 *1*3

Other manufacturer's motor with encoder *1 *1 *1*3

*1 Set according to the motor (encoder).

*2 Prepare the power supply (5 V/12 V/15 V/24 V) for the encoder according to the encoder's output voltage.
*3 When the encoder output is the differential line driver type, only 5 V can be input.

NOTE
• Switch "SW2" is for manufacturer setting. Do not change the setting.
• When power is not supplied to the control circuit of the inverter, also turn OFF the encoder's power supply. Otherwise, the
plug-in option may be damaged.

16 INSTALLATION AND WIRING

2.4 Wiring
1. Use twisted pair shield cables (0.2 mm2 or larger) to connect the FR-A8AP and position detector.
For the wiring to the terminals PG and SD, use several cables in parallel or use a thick cable, according to the wiring
length. To protect the cables from noise, run them away from any source of noise (e.g. the main circuit and power
voltage).
Example of parallel connection
with two cables
(with complementary encoder output)
Inverter
(FR-A8AP) PLG
PA1
PA2
A
B
2
PB1 C
PB2 D
PZ1 F
PZ2 G

PG
S
SD R

2mm2
PG

SD

Parallel connection
Wiring length Larger-size cable
(Cable gauge 0.2 mm2)
Within 10 m At least two cables in parallel 0.4 mm2 or larger
Within 20 m At least four cables in parallel 0.75 mm2 or larger
*1
Within 100 m At least six cables in parallel 1.25 mm2 or larger

INSTALLATION AND WIRING 17

 *1 When differential driver is set and a wiring length is 30 m or more
The wiring length can be extended to 100 m by slightly increasing the 5 V power supply (approx. 5.5 V) and using six or more cables with
gauge size of 0.2 mm2 in parallel or a cable with gauge size of 1.25 mm2 or more. Note that the voltage applied should be within power
supply specifications of encoder.
To reduce noise of the encoder cable, earth (ground) the encoder shielded cable to the enclosure (as close as the inverter) with
a P clip or U clip made of metal.
Earthing (grounding)
example using a P clip

Encoder cable
Shield
P clip

NOTE
• For details of the optional encoder dedicated cable (FR-JCBL/FR-V7CBL), refer to page 22
• FR-V7CBL is provided with a P clip for earthing (grounding) shielded cable.

18 INSTALLATION AND WIRING

2. Wire the shielded twisted pair cable after stripping its sheath to make its cables loose.
Also, protect the shielded cable of the shielded twisted pair cable to ensure that it will not make contact with the
conductive area.
Shield
(perform protective treatment)
Sheath

Shielded twisted pair cable

Strip the signal wires as follows. If too much of the wire is stripped, a short circuit may occur with neighboring wires. If not 2
enough of the wire is stripped, wires may become loose and fall out.
Twist the stripped end of wires to prevent them from fraying. Do not solder them.
Cable stripping length

5 mm

Use a crimp terminal as necessary.

When using the crimp terminal, make sure that the stranded wire do not come out of the terminal.

Unstranded
ire wires
W
ve
ee
Sl

m
.5m
o0
0t Wires are not inserted
Damaged Crumpled tip into the sleeve

INSTALLATION AND WIRING 19

 NOTE
• Information on crimp terminals
Commercially available products (as of October 2020)
Phoenix Contact Co., Ltd.
Ferrule part No.
Terminal Cable gauge Crimping tool
Without insulation
screw size (mm2) With insulation sleeve model No.
sleeve
M2 0.3 to 0.5 Al 0,5-6WH A 0,5-6 CRIMPFOX 6
NICHIFU Co., Ltd.
Blade terminal Insulation cap Crimping tool
Screw size Cable gauge (mm2)
part No. part No. model No.
M2 0.3~0.75 BT 0.75-7 VC 0.75 NH 69

20 INSTALLATION AND WIRING

3. Loosen the terminal screw and insert the cable into the terminal.
Screw size Tightening torque Cable gauge Screwdriver
2 Small flathead screwdriver
M2 0.22 Nm to 0.25 Nm 0.3 mm to 0.75 mm (tip thickness: 0.4 mm / tip width: 2.5 mm)

NOTE
• Undertightening may cause cable disconnection or malfunction. Overtightening can cause a short circuit or malfunction due
to damage to the screw or unit.
• When wiring the RS-485 terminals on the inverter with the plug-in options installed, be careful not to let RS-485 cables touch
the option circuit boards and the inverter circuit board. This is to prevent a malfunction due to electromagnetic noises.
• When one position detector is shared between FR-A8AP and CNC (computerized numerical controller), its output signal
should be connected as shown below. In this case, the wiring length between FR-A8AP and CNC should be as short as 2
possible, within 5 m.

Inverter Position detector

(FR-A8AP) Encoder

CNC
Maximum 5 m
(two parallel cables)

CAUTION
• Do not use empty terminals as junction terminals because they are used internally used by the option. Doing so may damage the plug-in
option.
• After wiring, do not leave wire offcuts in the inverter. Doing so may cause a fault, failure or malfunction.

INSTALLATION AND WIRING 21

2.5 Encoder cables dedicated to Mitsubishi Electric motors
Use dedicated encoder cables to connect with Mitsubishi Electric encoder-equipped motors.
 FR-V7CBL
For SF-PR-SC/SF-V5RU/SF-THY
A P clip for earthing (grounding) a shielded cable is provided.
Inverter
2
F-DPEVSB 12P 0.2 mm D/MS3057-12A (FR-A8AP) Encoder
Approx. 140 mm
PA1 A
11mm

Earth cable PA2 B

PB1 C
PB2 D
PZ1 F
60mm PZ2 G Positioning keyway
L D/MS3106B20-29S

PG M A B
S N C
L
R T P D
SD K E
S R
J
H G F

D/MS3106B20-29S
2mm2 (As viewed from wiring side)
PG

SD

Type Length L (m)

FR-V7CBL5 5
FR-V7CBL15 15
FR-V7CBL30 30

22 INSTALLATION AND WIRING

 FR-JCBL
For SF-JR/HR/JRCA/HRCA (with encoder)
Inverter
F-DPEVSB 12P 0.2mm2 D/MS3057-12A (FR-A8AP) Encoder
Approx. 140 mm PA1 C

11mm
PA2 R
Earth cable PB1 A
PB2 N
*1 PZ1 B
PZ2 P Positioning keyway
60mm
L D/MS3106B20-29S
M A B
PG N C
H L
K T P D

2
SD K
S E
J R
H G F
D/MS3106B20-29S
(As viewed from wiring side)
2mm2
PG

SD

Type Length L (m)

FR-JCBL5 5
FR-JCBL15 15
FR-JCBL30 30
*1 As the terminal block of the FR-A8AP is an insertion type, cables need to be treated. (Refer to page 19.)

INSTALLATION AND WIRING 23

 Connection terminal compatibility table
Motor SF-PR-SC/SF-V5RU/SF-THY SF-JR/HR/JRCA/HRCA (with encoder)
Encoder cable FR-V7CBL FR-JCBL
PA1 PA PA
PA2 Keep this open. PAR
PB1 PB PB
PB2 Keep this open. PBR
FR-A8AP terminal
PZ1 PZ PZ
PZ2 Keep this open. PZR
PG PG 5E
SD SD AG2

24 INSTALLATION AND WIRING

2.6 Terminals
Terminal
Common Terminal Name Specification Description
Symbol
Encoder A-phase signal
PA1
input terminal A-phase signal is input from
Encoder A-phase inverse the encoder.
PA2
signal input terminal
Differential line Encoder B-phase signal
PB1 For details of
driver: ― input terminal Differential line driver / B-phase signal is input from
pulse signal,
Complementary: Encoder B-phase inverse Complementary the encoder.
PB2 SD signal input terminal
refer to page 26.
2
Encoder Z-phase signal Z-phase signal is input from
PZ1
input terminal the encoder.
Encoder Z-phase inverse (Not used for the encoder
PZ2 feedback control.)
signal input terminal
Encoder power supply Input power for the encoder power supply.
PG SD
(positive side) input terminal Connect the external power supply (5 V, 12 V,
15 V, 24 V) and the encoder power cable. When
the encoder output is the differential line driver
―
Encoder power supply type, only 5 V can be input.
SD ― Make sure the voltage of the external power
ground terminal
supply the same as the encoder output voltage.
(Check the encoder specification.)

INSTALLATION AND WIRING 25

 3 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS

3.1 Encoder
 Position detection (pulse encoder)
Output pulse specifications
Differential line driver Complementary
A/A signal 1000 P/R to 4096 P/R A signal 1000 P/R to 4096 P/R
B/B signal 1000 P/R to 4096 P/R B signal 1000 P/R to 4096 P/R Position detector
Z/Z signal 1 P/R Z signal 1 P/R Encoder
P P
a b c d A
a b c d H
A L A
A
When rotation is clockwise
B
B as viewed from the shaft
B end (A) of the encoder.
Z a, b, c, d should be (1/4
Z Z 1/8)P

NOTE
• When orientation control, encoder feedback control, vector control are used together, the encoder is shared between these
controls. Use an encoder which has a pulse count of 1000 to 4096 ppr (pulse per revolution).
• The encoder should be coupled with the motor shaft or the spindle oriented with a speed ratio of 1 to 1 without any
mechanical looseness.
• To ensure correct operation, the encoder must be set in the proper rotation direction and the A and B phases connected
correctly.

26 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS

 Power supply
Choose a power supply for encoder according to the encoder used (5 V/12 V/15 V/24 V). When the encoder output is the
differential line driver type, only 5 V can be input. Make sure the voltage of the external power supply the same as the encoder
output voltage. (Check the encoder specification.)
When an encoder is used under orientation control, encoder feedback control, and vector control, the power supply is shared
between the inverter and encoder.

• Specifications of the encoders equipped in the motors with encoders and the vector-control dedicated motors
Item Encoder for SF-PR-SC/SF-V5RU/SF-THY Encoder for SF-JR/HR/JRCA/HRCA
Resolution 2048 pulses/rev 1024 pulses/rev
Power supply voltage 12 VDC ±10%, 24 VDC ±10% 5 VDC±10%
Current consumption 90 mA or less 150 mA or less
A, B phases (90° phase shift)
Output signal form
Z phase: 1 pulse/rev
Equivalent to differential line driver
3
Output circuit Complementary
AM26LS31
H level: "Power supply for encoder-3 V" or more H level: 2.4 V or more
Output voltage
L level: 3 V or less L level: 0.5 V or less

NOTE
• When the input power supply voltage to the encoder and its output voltage differ, the protective function (E.ECT) may be
activated.

 Parameters for encoder

For the parameters for encoder, refer to the FR-A800 Instruction Manual (Detailed).

ENCODER SPECIFICATIONS AND PARAMETER SETTINGS 27

 Parameter settings for the motor under Vector control
Using the control terminal option FR-A8TP together with the FR-A8AP enables Vector control or machine end orientation
control by switching between two encoder-equipped motors. Use Pr.862 to set the combination of the motors (first/second) and
the options (FR-A8TP/FR-A8AP).
Pr.862 Encoder option Pr.393 Orientation RT signal-OFF RT signal-ON Machine end
selection selection (First motor) (Second motor)*1 orientation control
0, 1, 2
0 (initial value) FR-A8AL FR-A8TP
10, 11, 12 Disabled
0, 1, 2 FR-A8TP FR-A8AL
1 Motor end: FR-A8TP
10, 11, 12 — Enabled
Machine end: FR-A8AL

*1 When Pr.450 Second applied motor = "9999", the first motor is selected even if the RT signal turns ON.
Use the following parameters for the encoder input setting. The encoder input setting can be made regardless of the Pr.862
setting and first/second motor setting.
Parameter for control
Parameter for plug-in
Parameter name terminal option (FR-
option (FR-A8AP)
A8TP)
Encoder rotation direction 852 359
Number of encoder pulses 851 369
Encoder signal loss
detection enable/disable 855 376
selection

NOTE
• To input the RT signal, set "3" in any of Pr.178 to Pr.182, Pr.185, or Pr.189 (Input terminal function selection) to assign the
function to a terminal.
• Pr.862 setting is valid even when either the plug-in option or control terminal option is installed. For using the control
terminal option alone, the motor does not run when Pr.862 is the initial value as it is. (When the RT signal is OFF)

28 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS

 Parameter settings for the motor under vector control
Pr.359 Encoder rotation Pr.369 Number of encoder
Motor Name
direction pulses
SF-JR 1 (Initial value) 1024 (Initial value)
SF-JR 4P 1.5 kW or less 1 (Initial value) 1024 (Initial value)
Mitsubishi Electric standard motor
SF-HR 1 (Initial value) 1024 (Initial value)
Others *1 *1

SF-JRCA 4P 1 (Initial value) 1024 (Initial value)

Mitsubishi Electric constant-torque motor SF-HRCA 4P 1 (Initial value) 1024 (Initial value)
Others *1 *1

Mitsubishi Electric high-performance

SF-PR-SC 1 (initial value) 2048
energy-saving motor with encoder

Mitsubishi vector control dedicated motor

SF-V5RU
SF-THY
1 (Initial value)
1 (Initial value)
2048
2048
3
Other manufacturer's standard motor ─ *1 *1

Other manufacturer's constant-torque *1 *1

─
motor
*1 Set this parameter according to the motor (encoder) used.

ENCODER SPECIFICATIONS AND PARAMETER SETTINGS 29

MEMO

30 ENCODER SPECIFICATIONS AND PARAMETER SETTINGS

 4 ORIENTATION CONTROL
This function is used with a position detector (encoder) installed to the spindle of a machine tool, etc. to allow a rotary shaft to
be stopped at the specified position (oriented).
For the details of the parameters used for orientation control, refer to the Instruction Manual (Detailed) of the inverter.
4.1 Wiring example

MCCB MC SF-JR motor with encoder For complementary type (SF-V5RU)

Inverter SF-PR-SC/
R/L1 U U MCCB MC OCR SF-V5RU/SF-THY
Three-phase
S/L2 V V 
AC power M Three-phase
T/L3 W W FAN
supply AC power
E supply
Earth Inverter U U
Forward rotation start STF
FR-A8AP (Ground) V V
M
Reverse rotation start STR PA1 C  W W
E
Orientation command X22  R
4
PA2 Earth
(Ground)
Contact input common SD External PC Thermal
PB1 A 2 W1 kΩ
ORA  thermal relay
OH G1
relay
PB2 N input  protector
ORM SD G2
 B
Encoder
PZ1
FR-A8AP PA1 A 
SE PZ2 P 
Differential PA2 B
SD
PG H PB1 C
FR-A8AX K PB2 D
 Complementary SD
X15 PZ1 F
Encoder
PG Differential
X14 PZ2 G 
Terminating SD
resistor ON

Complementary
PG S
X1  (+) (-) 5 VDC power SD R
X0  supply  Terminating
PG
resistor ON
DY OFF SD 
 
(+) (-) 12 VDC power
OFF supply 

ORIENTATION CONTROL 31
 *1 For the fan of the 7.5 kW or less dedicated motor, the power supply is single phase (200 V/50 Hz, 200 to 230 V/ 60 Hz).
*2 The pin number differs according to the encoder used.
*3 Use Pr. 178 to Pr. 189 (input terminal function selection) to assign the function to any of terminal.
Refer to the Instruction Manual (Detailed) for details of Pr. 178 to Pr. 189 (input terminal function selection).
*4 Use Pr. 190 to Pr. 196 (output terminal function selection) to assign the function to any of terminal.
Refer to the Instruction Manual (Detailed) for details of Pr. 190 to Pr. 196 (output terminal function selection).
*5 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*6 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc. (Refer to page 17.)
*7 For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use. (Refer to page 14.)
Note that the terminating resistor switch should be set to off position when sharing the same encoder with other unit (CNC, etc.) and a
terminating resistor is connected to other unit. For the complementary, set the switch to off position.
*8 For terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A8AP, refer to page 24.
*9 A separate power supply of 5 V/12 V/15 V/24 V is necessary according to the encoder power specification. When the encoder output is
the differential line driver type, only 5 V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external power supply between
PG and SD.
When performing encoder feedback control and vector control together, an encoder and power can be shared.
*10 When a stop position command is input from outside, a plug-in option FR-A8AX is necessary. Refer to the Instruction Manual (Detailed)
for details of external stop position command.
*11 To use a terminal as the terminal OH, assign the OH (external thermal O/L relay input) signal to an input terminal. (Set "7" in any of Pr.178
to Pr.189. For details, refer to the Instruction Manual (Detailed) of the inverter.)

32 ORIENTATION CONTROL
4.2 Terminals
 Option FR-A8AX terminal
Terminal
Terminal Name Description
Symbol
Input the digital signal at the relay contact or open collector terminal.
X0 to X15 Digital signal input terminal
Using Pr. 360, speed or position command is selected as the command signal entered.
Used when a digital signal read timing signal is necessary. Data is read only during the DY signal is
Data read timing input
DY on.
signal terminal
By switching the DY signal off, the X0 to X15 data before signal-off is retained.

 Inverter terminal
Terminal
Terminal (Signal) Name Application Explanation
(Signal)
Used to enter an orientation signal for orientation.
Input X22 Orientation command For the terminal used for X22 signal input, set "22" in any of Pr. 178 to Pr. 189 to assign the
function. *1
Switched LOW if the orientation has stopped within the in-position zone while the start and 4
X22 signals are input.
ORA Orientation complete For the terminal used for the ORA signal output, assign the function by setting "27 (positive
logic) or 127 (negative logic)" in any of Pr. 190 to Pr. 196. *1
Output
Switched LOW if the orientation has not completed within the in-position zone while the start
and X22 signals are input.
ORM Orientation fault For the terminal used for the ORA signal output, assign the function by setting "28 (positive
logic) or 128 (negative logic)" in any of Pr. 190 to Pr. 196. *1
*1 Refer to the Instruction Manual (Detailed) for details of Pr.178 to Pr.189 (input terminal function selection) and Pr.190 to Pr.196
(output terminal function selection).

ORIENTATION CONTROL 33
4.3 Specifications
Item Description
±1.5°
Repeated positioning
Depends on the load torque, moment of inertia of the load or orientaion, creep speed, position loop switching
accuracy
position, etc.
Encoder-mounted shaft speed (6000 r/min with 1024-pulse encoder).
Permissible speed The drive shaft and encoder-mounted shaft must be coupled directly or via a belt without any slip.
Gear changing shafts cannot be applied.
Orientation, creep speed setting, stop position command selection, DC injection brake start position setting, creep
Functions
speed and position loop switch position setting, position shift, orientation in-position, position pulse monitor, etc.
Holding force after Under V/F control, Advanced magnetic flux vector control...without servo lock function
positioning Under vector control...with servo lock function
Orientation command, forward and reverse rotation commands, stop position command (open collector signal
Input signal
input (complementary) is enabled)
(contact input)
Binary signal of maximum 16 bit (when used with the FR-A8AX)
Output signal
Orientation completion signal, orientation fault signal
(open collector output)

34 ORIENTATION CONTROL
 5 ENCODER FEEDBACK CONTROL
Mount FR-A8AP to an FR-A800 series inverter to perform encoder feedback control under V/F control or Advanced magnetic
flux vector control.
This controls the inverter output frequency so that the motor speed is constant to the load variation by detecting the motor
speed with the speed detector (encoder) to feed back to the inverter.
For the details of the parameters used for encoder feedback control, refer to the Instruction Manual (Detailed) of the inverter.
5.1 Wiring examples
MCCB MC Inverter SF-JR motor with encoder
R/L1 U U
Three-phase S/L2 V V
M
AC power supply T/L3 W W
E
Forward rotation start STF Earth
FR-A8AP (Ground)
Reverse rotation start STR C 
PA1
Contact input common SD R
5
PA2
A
PB1
10 Differential N
Frequency setting PB2
potentiometer 2 PG Encoder
H
5 Complementary SD K 
PG
Terminating
resistor ON SD 
  (+) (-) 5 VDC power
supply 
OFF

ENCODER FEEDBACK CONTROL 35

 *1 The pin number differs according to the encoder used.
*2 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio should be 1:1.
*3 Earth (Ground) the shielded cable of the encoder cable to the enclosure with a P clip, etc. (Refer to page 17.)
*4 For the differential line driver, set the terminating resistor selection switch to on position (initial status) to use. (Refer to page 14) Note that
the terminating resistor switch should be set to off position when sharing the same encoder with other unit (CNC, etc) and a terminating
resistor is connected to other unit.
For the complementary, set the switch to off position.
*5 For terminal compatibility of the FR-JCBL, FR-V7CBL and FR-A8AP, refer to page 24.
*6 A separate power supply of 5 V/12 V/15 V/24 V is necessary according to the encoder power specification. When the encoder output is
the differential line driver type, only 5 V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external power supply between
PG and SD.
To perform orientation control together, an encoder and power supply can be shared.

5.2 Specifications
Item Description
Speed variation ratio ±0.1% (100% means 3600 r/min)
• Setting of speed feedback range
Function • Setting of feedback gain
• Setting of encoder rotation direction
Maximum speed V/F control: 590 Hz, Advanced magnetic flux vector control: 400 Hz (102400 pulse/s or less encoder pulses)

36 ENCODER FEEDBACK CONTROL

 6 VECTOR CONTROL
When FR-A8AP is installed on the FR-A800 series, full-scale vector control operation can be performed using a motor with
encoder.
Speed control, torque control and position control by vector control can be performed. (Refer to the Instruction Manual
(Detailed) for details.)

VECTOR CONTROL 37
6.1 Wiring examples
 Speed control
Vector control dedicated motor (SF-PR-SC, SF-V5RU, or SF-THY), 12 V Standard motor with encoder (SF-JR), 5 V
complementary differential line driver
SF-PR-SC/ SF-JR motor with encoder
MCCB MC Inverter
OCR SF-V5RU/SF-THY U U
∗7 A
Three-phase V V
AC power B M
FAN W W
supply C
∗13 E
Earth
MCCB MC Inverter U U
FR-A8AP (Ground)
R/L1 V V PA1 C 
Three-phase M
S/L2 W W R
AC power supply PA2
T/L3 E
Earth PB1 A
(Ground) Thermal relay
Forward rotation start STF External PC PB2 N
2W1kΩ G1 protector ∗12
Reverse rotation start STR thermal OH Encoder
Differential B
relay input ∗8 SD G2 PZ1
Contact input common SD PZ2 P 
FR-A8AP
PA1 A ∗1
Complementary PG H
PA2 B
Terminating
SD K
10 PB1 C resistor ON
Frequency command 3 PG
Frequency setting 2 PB2 D SD 
2 (+) (-) 5 VDC power supply
potentiometer Encoder
F 
1/2 W1 kΩ 1 5 Differential PZ1 OFF 

PZ2 G ∗2

Torque limit PG S
Complementary
command (+) 1
(-) Terminating SD R
( 10 V) resistor
ON PG
SD ∗3 12VDC power
∗4 ∗6 (+) (-) supply ∗5
OFF

38 VECTOR CONTROL
 Torque control
Vector control dedicated motor (SF-PR-SC, SF-V5RU, or SF-THY), 12 V Standard motor with encoder (SF-JR), 5 V
complementary differential line driver
SF-PR-SC/ SF-JR motor
MCCB MC Inverter with encoder
OCR SF-V5RU/SF-THY U U
∗7 A
Three-phase V V
AC power B M
FAN W W
supply C
∗13 E
MCCB MC U U Earth
Inverter FR-A8AP (Ground)
Three-phase R/L1 V V PA1 C ∗1
M
AC power S/L2 W W
PA2 R
supply T/L3 E
Earth PB1 A
(Ground) Thermal relay
Forward rotation start STF External PC PB2 N
2W1kΩ G1 protector ∗12
Reverse rotation start STR thermal OH Encoder
Differential
relay input ∗8 SD G2 PZ1 B
Contact input common SD FR-A8AP PZ2 P ∗2
PA1 A ∗1
Complementary
PG H
PA2 B
Terminating SD K
10 PB1 C resistor ON
Speed limit command 3 PG
Frequency setting 2 PB2 D ∗3
2 SD
potentiometer Encoder (+) (-) 5VDC power supply
F ∗6
1/2W1kΩ 1 5 Differential PZ1 OFF ∗5
∗4
PZ2 G ∗2

Torque command (+) 1 PG S

6
Complementary
(±10V) (-)
Terminating SD R
resistor
ON PG
SD ∗3 12VDC power
∗4 ∗6 (+) (-) supply ∗5
OFF

VECTOR CONTROL 39
 Position control
Vector control dedicated motor (SF-PR-SC, SF-V5RU, or SF-THY), 12 V complementary
SF-PR-SC/
MCCB MC OCR SF-V5RU/SF-THY
 A
Three-phase B
FAN
Positioning unit AC power supply C
MELSEC-Q QD75P[ ]N/QD75P[ ] 
MCCB MC
MELSEC-L LD75P[ ] R/L1 U U
Three-phase Inverter
AC power S/L2 V V
supply M
T/L3 W W
FLS
E
RLS Earth
DOG (ground) Thermal
External thermal protector PC protector
2W1kΩ G1 
STOP relay input  OH
Forward stroke end SD G2
STF
Reverse stroke end FR-A8AP
STR PA1 A 
Pre-excitation/servo on
LX  PA2 B
Clear signal
CLEAR CLR 
C
PB1
Pulse train
PULSE F JOG  PB2 D
Sign signal
PULSE R NP  Differential Encoder
24VDC power supply line driver PZ1 F
CLRCOM PC PZ2 G 
PULSE COM SE
Complementary PG S
RDYCOM
Terminating SD R
COM resistor
Preparation ready signal ON PG
READY RDY 
SD 
5 12VDC
  (+) (-) power supply 
OFF
Torque limit command (+) 1
(±10V) (-)

40 VECTOR CONTROL
*1 The pin number differs according to the encoder used.
Speed, control, torque control, and position control by pulse train input are available with or without the Z-phase being connected.
*2 Connect the encoder so that there is no looseness between the motor and motor shaft. Speed ratio must be 1:1.
*3 Earth (ground) the shield of the encoder cable to the enclosure using a tool such as a P-clip. (Refer to page 17.)
*4 For the complementary, set the terminating resistor selection switch to OFF position. (Refer to page 14.)
*5 A separate power supply of 5 V/12 V/15 V/24 V is necessary according to the encoder power specification.
When the encoder output is the differential line driver type, only 5 V can be input.
Make the voltage of the external power supply the same as the encoder output voltage, and connect the external power supply across PG
and SD.
When performing orientation control together, an encoder and power supply can be shared.
*6 For terminal compatibility of the FR-JCBL, FR-V7CBL, and FR-A8AP, refer to page 24.
*7 For the fan of the 7.5 kW or lower dedicated motor, the power supply is single phase. (200 V/50 Hz, 200 to 230 V/60 Hz)
*8 To use a terminal as the terminal OH, assign the OH (external thermal O/L relay input) signal to an input terminal. (Set "7" in any of Pr.178
to Pr.189. For details, refer to the Instruction Manual (Detailed) of the inverter.)
*9 Assign the function using Pr.178 to Pr.184, Pr.187 to Pr.189 (input terminal function selection).
*10 When position control is selected, terminal JOG function is invalid and simple position pulse train input terminal becomes valid.
*11 Assign the function using Pr.190 to Pr.194 (output terminal function selection).
*12 Some SF-PR-SC models have a thermal protector.
*13 The SF-PR-SC does not have a cooling fan.

VECTOR CONTROL 41
6.2 Specifications
Item Description
Speed control range 1:1500 (both driving/regeneration *1)
Speed variation ratio ±0.01% (100% means 3000 r/min)
Speed control
Speed response 130 Hz
Maximum speed 120 Hz (102400 pulse/s or less encoder pulses)
Torque control range 1:50
Torque control Absolute torque accuracy ±10% *2
Repeated torque accuracy ±5% *2
Repeated positioning
±1.5° (at motor shaft end)
accuracy
Maximum input pulse
100k pulses/s (Terminal JOG)
frequency
Position control Positioning feedback pulse Number of encoder pulses per motor rotation (Pr.369)  4
Electronic gear setting 1/50 to 20
In-position width 0 to 32767 pulses
Error excess 0 to 400k pulses
• Setting of speed feedback range
Function • Setting of feedback gain
• Setting of encoder rotation direction
*1 Regeneration unit (option) is necessary for regeneration
*2 With online auto tuning (adaptive magnetic flux observer), dedicated motor, rated load

42 VECTOR CONTROL
 APPENDIX

Appendix 1 Instructions for compliance with the EU Directives

The EU Directives are issued to standardize different national regulations of the EU Member States and to
facilitate free movement of the equipment, whose safety is ensured, in the EU territory.
Since 1996, compliance with the EMC Directive that is one of the EU Directives has been legally required. Since
1997, compliance with the Low Voltage Directive, another EU Directive, has been also legally required. When a
manufacturer confirms its equipment to be compliant with the EMC Directive and the Low Voltage Directive, the
manufacturer must declare the conformity and affix the CE marking.
• The authorized representative in the EU
The authorized representative in the EU is shown below.
Name: Mitsubishi Electric Europe B.V.
Address: Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
 EMC Directive
We declare that this product conforms with the EMC Directive when installed in a compatible inverter, and affix the CE marking
on the packaging plate.
• EMC Directive: 2014/30/EC
• Standard(s): EN 61800-3:2004+A1:2012 (Second environment / PDS Category "C3")
 Note
• To install and wire the inverter, refer to the "Instructions for compliance with the EU Directives" in the Instruction Manual
enclosed with the inverter.
• Confirm that the final integrated system with the inverter conforms with the EMC Directive.
 EU RoHS Directive
We declare that this product conforms with the EU RoHS Directive (2011/65/EU) when installed in a compatible inverter, and
affix the CE marking on the packaging plate.

APPENDIX 43
Appendix 2 Instructions for EAC
The product certified in compliance with the Eurasian Conformity has the EAC marking on the packaging plate.
Note: EAC marking
In 2010, three countries (Russia, Belarus, and Kazakhstan) established a Customs Union for the purposes of
revitalizing the economy by forming a large economic bloc by abolishing or reducing tariffs and unifying regulatory
procedures for the handling of articles.
Products to be distributed over these three countries of the Customs Union must comply with the Customs Union
Technical Regulations (CU-TR), and the EAC marking must be affixed to the products.
For information on the country of origin, manufacture year and month, and authorized sales representative
(importer) in the CU area of this product, refer to the following:
• Country of origin indication
Check the package of this product.
Example: MADE IN JAPAN
• Manufactured year and month
Check the SERIAL number indicated on this product.

□ ○ ○ ○○○
Symbol Year Month Control number
SERIAL
SERIAL
The SERIAL consists of one symbol, two characters indicating the production year and month, and
three characters indicating the control number. The last digit of the production year is indicated as the
Year, and the Month is indicated by 1 to 9, X (October), Y (November), or Z (December).
• Authorized sales representative (importer) in the CU area
The authorized sales representative (importer) in the CU area is shown below.
Name: Mitsubishi Electric Turkey A.S. Head Office
Address: Serifali Mahallesi Kale Sokak. No:41 34775 Umraniye, Istanbul, Turkey
Phone: +90-216-969-25-00
Fax: +90-216-661-44-47

44 APPENDIX
Appendix 3 Restricted Use of Hazardous Substances in Electronic and
Electrical Products
The mark of restricted use of hazardous substances in electronic and electrical products is applied to the product as follows
based on the “Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic
Products” of the People's Republic of China.

⭥ಘ⭥ᆀӗ૱ᴹᇣ⢙䍘䲀ࡦ֯⭘ḷ䇶㾱≲
⧥ູؓᣚֵ⭞ᵕ䲆ḽ䇼

ᵜӗ૱ѝᡰਜ਼ᴹⲴᴹᇣ⢙䍘Ⲵ਽〠ǃਜ਼䟿ǃਜ਼ᴹ䜘Ԧྲл㺘ᡰ⽪DŽ
Ьӗ૱ѝᡰਜ਼ᴹᇣ⢙䍘Ⲵ਽〠৺ਜ਼䟿
ᴿᇩ⢟䍞 
䜞Ԭ੃〦  䫻 ⊔ 䭿 ‫ޣ‬ԭ䬢 ཐ⓪㚊㤥 ཐ⓪ӂ㤥䟐
3E +J &G &U 9, 3%% 3%'(
⭥䐟ᶯ㓴Ԧ˄वᤜঠࡧ⭥䐟ᶯ৺ަᶴᡀⲴ䴦䜘Ԧˈ
h ƻ h ƻ ƻ ƻ
ྲ⭥䱫ǃ⭥ᇩǃ䳶ᡀ⭥䐟ǃ䘎᧕ಘㅹ˅ǃ⭥ᆀ䜘Ԧ
䠁኎༣փǃ䠁኎䜘Ԧ h ƻ ƻ ƻ ƻ ƻ
ṁ㜲༣փǃṁ㜲䜘Ԧ ƻ ƻ ƻ ƻ ƻ ƻ
㷪эǃ⭥㓯 ƻ ƻ ƻ ƻ ƻ ƻ
к㺘‫ ᦞ׍‬6-7Ⲵ㿴ᇊ㕆ࡦDŽ
ƻ˖㺘⽪䈕ᴹᇣ⢙䍘൘䈕䜘Ԧᡰᴹ൷䍘ᶀᯉѝⲴਜ਼䟿൷൘ *%7㿴ᇊⲴ䲀䟿㾱≲ԕлDŽ
h˖㺘⽪䈕ᴹᇣ⢙䍘൘䈕䜘ԦⲴ㠣ቁа⿽൷䍘ᶀᯉѝⲴਜ਼䟿䎵ࠪ *%7㿴ᇊⲴ䲀䟿㾱≲DŽ
ণ֯㺘ѝ䇠䖭Ѫ hˈṩᦞӗ૱රਧˈҏਟ㜭Պᴹᴹᇣ⢙䍘Ⲵਜ਼䟿Ѫ䲀ࡦ٬ԕлⲴᛵߥDŽ
ṩᦞӗ૱රਧˈа䜘࠶䜘Ԧਟ㜭нवਜ਼൘ӗ૱ѝDŽ

APPENDIX 45
Appendix 4 Referenced Standard (Requirement of Chinese
standardized law)
This Product is designed and manufactured accordance with following Chinese standards.
EMC: GB/T 12668.3

46 APPENDIX
Appendix 5 Regarding Directive on Waste Electrical and Electronic
Equipment
This symbol mark is for EU countries only, and is according to the directive 2012/19/ EU
Article 14 Information for users and Annex IX.
This symbol mark means that electrical and electronic equipment, at their end-of-life, should
be disposed of separately from your household waste.

APPENDIX 47
Appendix 6 Compliance with the UK certification scheme
We declare that this product conforms with the related technical requirements under UK legislation when
installed in a compatible inverter, and affix the UKCA (UK Conformity Assessed) marking on the packaging
plate.
Approval conditions are the same as those for the EU Directives. (Refer to page 44.)

UKCA marking:
The UKCA marking is used for products sold in the markets of Great Britain (England, Wales, and Scotland) from January 1,
2021 after the departure of the UK from the EU on January 31, 2020.

48 APPENDIX
MEMO

APPENDIX 49
MEMO

50 APPENDIX
REVISIONS
*The manual number is given on the bottom left of the back cover. Instructions for compliance with the EU Directives
Revision date *Manual Number Revision
Aug. 2013 IB(NA)-0600505ENG-A First edition
Edited
Sep. 2014 IB(NA)-0600505ENG-B
• Crimp terminals commercially available
Added
• Instructions for compliance with the EU Directives
• Instructions for EAC
Sep. 2022 IB(NA)-0600505ENG-C
• Restricted Use of Hazardous Substances in Electronic and Electrical Products
• Referenced Standard (Requirement of Chinese standardized law)
• Compliance with the UK certification scheme
Edited
• Corrected encoder's current consumption values
Aug. 2023 IB(NA)-0600505ENG-D
Added
• Regarding Directive on Waste Electrical and Electronic Equipment

51
INVERTER

HEAD OFFICE: TOKYO BUILDING 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

IB(NA)-0600505ENG-D(2308) MEE Printed in Japan Specifications subject to change without notice.